Multi-axis robot with adjustable end of arm tool

Abstract

A robot system includes an articulated robot having a base near one end, a wrist flange near an opposite end, and a plurality of robot portions between the base and the wrist flange. A cutting tool is secured to the wrist flange and selectively moveable about at least one tool axis to change an angle of orientation of the cutting tool. A controller coordinates movement of the robot portions and at least one change in the angle of orientation of the cutting tool to move the cutting tool in an uninterrupted manner along a continuous cutting path to cut a slab of material while avoiding a singularity condition in which any two of the robot's axes are collinear.

We claim: 
     
         1 . A robot system, comprising:
 an articulated robot including a base near one end, a wrist flange near an opposite end, and a plurality of robot portions between the base and the wrist flange, the robot portions being moveable about respective axes relative to at least one other of the robot portions;   a cutting tool secured to the wrist flange, the cutting tool being selectively moveable about at least one tool axis to change an angle of orientation of the cutting tool relative to the wrist flange; and   a controller that is configured to coordinate movement of the plurality of robot portions with at least one change in the angle of orientation of the cutting tool relative to the wrist flange to move the cutting tool in an uninterrupted manner along a continuous cutting path to cut a slab of material at a first angle relative to a primary face of the slab while avoiding a singularity condition in which any two of the respective axes are collinear;   wherein the controller is configured to maintain the wrist flange in an orientation relative to the primary face of the slab along the continuous cutting path such that an angle between the wrist flange and the primary face of the slab is between 0° and 25°.   
     
     
         2 . The robot system of  claim 1 , wherein the first angle is an oblique angle. 
     
     
         3 . The robot system of  claim 1 , wherein the angle between the wrist flange and the primary face of the slab is between 0° and 15°. 
     
     
         4 . The robot system of  claim 1 , wherein the angle between the wrist flange and the primary face of the slab is up to 10°. 
     
     
         5 . The robot system of  claim 1 , wherein the controller is configured to maintain the wrist flange parallel to the primary face of the slab along the continuous cutting path. 
     
     
         6 . The robot system of  claim 1 , further comprising:
 a support secured to the base, the support being moveable for selectively changing at least one of a location or an orientation of the base.   
     
     
         7 . The robot system of  claim 6 , wherein the controller is configured to coordinate movement of the plurality of robot portions with movement of the support and the at least one change in the angle of orientation to move the cutting tool along the continuous cutting path while avoiding the singularity condition. 
     
     
         8 . The robot system of  claim 7 , wherein the support comprises at least one linear track that establishes a plurality of possible locations of the base. 
     
     
         9 . The robot system of  claim 7 , wherein the support comprises at least one eccentrically rotatable platform that establishes a plurality of locations and orientations of the base. 
     
     
         10 . The robot system of  claim 1 , wherein the cutting tool includes a saw blade and/or a fluid jet cutter. 
     
     
         11 . A method of operating a robot system, comprising:
 securing a cutting tool to a wrist flange of an articulated robot, wherein the wrist flange interconnects the cutting tool and a plurality of robot portions;   moving one or more of the robot portions about a respective axis relative to at least one other of the robot portions;   changing an angle of orientation of the cutting tool relative to the wrist flange; and   moving the cutting tool in an uninterrupted manner along a continuous cutting path to cut a workpiece at a first angle relative to a primary face of the workpiece while avoiding a singularity condition in which any two of the respective axes of the robot portions are collinear, including maintaining the wrist flange in an orientation relative to the primary face of the workpiece along the continuous cutting path such that an angle between the wrist flange and the primary face of the workpiece is ween 0° and 25°.   
     
     
         12 . The method of  claim 11 , wherein the first angle is an oblique angle. 
     
     
         13 . The method of  claim 11 , wherein the step of moving the cutting tool includes maintaining the wrist flange parallel to the primary face of the workpiece along the continuous cutting path. 
     
     
         14 . The method of  claim 11 , wherein:
 the plurality of robot portions extend between the wrist flange and a base; and   the step of moving the cutting tool includes changing at least one of a location or an orientation of the base.   
     
     
         15 . The method of  claim 14 , wherein the changing of the location of the base includes moving the base relative to at least one linear track. 
     
     
         16 . The method of  claim 11 , wherein the workpiece is a slab of material. 
     
     
         17 . The method of  claim 11 , wherein the cutting tool includes a saw blade. 
     
     
         18 . The method of  claim 17 , wherein the cutting tool includes a fluid jet cutter spaced apart from the saw blade. 
     
     
         19 . The method of  claim 11 , wherein the cutting tool includes a fluid jet cutter.